CN217835828U

CN217835828U - Crawler tensioning device and crawler traveling device

Info

Publication number: CN217835828U
Application number: CN202221024729.9U
Authority: CN
Inventors: 徐斐
Original assignee: Suzhou Radiant Photovoltaic Technology Co Ltd
Current assignee: Suzhou Radiant Photovoltaic Technology Co Ltd
Priority date: 2022-04-30
Filing date: 2022-04-30
Publication date: 2022-11-18
Anticipated expiration: 2032-04-30

Abstract

The application discloses a track tensioning device and a track type travelling device, wherein the track tensioning device is used for a track, and the track comprises an upper transmission belt and a lower transmission belt; track tensioning device includes: the mounting shaft is vertically fixed to a side plate and is positioned between the upper transmission belt and the lower transmission belt; the bottom surfaces of the more than two pressing plates are abutted to the upper surface of the lower transmission belt; the device comprises more than two rotating arms, a pressing plate and a rotating mechanism, wherein the rotating arms at least comprise a first rotating arm and a second rotating arm, the middle part of each rotating arm is hinged to an installation shaft, and one end of each rotating arm is hinged to the top of the pressing plate; and at least one elastic member, wherein two ends of each elastic member are respectively connected to one ends of the two rotating arms, and the elastic member is used for applying elastic force to the two rotating arms so that the crawler belt is tightened. Utilize elastic component and clamp plate to compress tightly the track bottom on the photovoltaic panel to increase the frictional force of track and photovoltaic panel, promote the land fertility of grabbing of track, prevent that the robot from sliding or landing in the process of advancing.

Description

Crawler tensioning device and crawler traveling device

Technical Field

The application relates to a track tensioning device and a track type advancing device.

Background

Among the prior art, the crawler-type robot of walking on the plane, the pinch roller mode of tank is used for reference in order to improve track frictional force more, sets up the track tooth at the track surface to promote and grab ground effect. However, the compressing wheels of the tank are mainly used for adapting to outdoor soft ground, the weight of the body enables the crawler belt to bend and change along with the fluctuation of the ground, and most of the time when the robot moves, the crawler belt is in a loose state.

The photovoltaic panel is an inclined plane, the surface of the photovoltaic panel is made of glass, and the photovoltaic panel is high in hardness and cannot be damaged. A cleaning robot for photovoltaic panel surface cleaning operation, in order to prevent skidding, need keep the track tight state in the in-process of marcing, apply sufficient pressure to the lower drive belt of track, utilize the frictional force between track and the photovoltaic panel to promote the ground gripping ability of robot, can not set up the track tooth.

The photovoltaic panel array is usually formed by combining a plurality of photovoltaic panels, the surface of the photovoltaic panel array is not a smooth inclined plane, and a metal frame, a pressing block, a screw and the like are often arranged at the joint of two adjacent panels to form a small barrier.

When the cleaning robot passes over the obstacles, the obstacles can become support points of the cleaning robot, so that the bottom of the crawler belt is partially tilted, and the contact area of the crawler belt and the photovoltaic panel is further reduced. Therefore the track frictional force effect that traditional mode of compressing tightly provided is not good, when the operation surpassed certain angle's photovoltaic panel at the angle of inclination, perhaps, when meetting the barrier in operation, the robot appears skidding easily or the phenomenon that drops.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a track overspeed device tensioner and crawler-type advancing device promotes the frictional force between track and the photovoltaic panel through elastic component and clamp plate to when solving through too big or array surface barrier in photovoltaic panel array inclination, the technical problem who skids or drop appears easily.

In order to achieve the above object, the present invention provides a track tensioning device for a track, the track comprising an upper driving belt and a lower driving belt; the track tensioning device comprises: a mounting shaft vertically fixed to a side plate between the upper and lower belts; the bottom surfaces of the more than two pressing plates are abutted to the upper surface of the lower transmission belt; the two or more rotating arms at least comprise a first rotating arm and a second rotating arm, the middle part of each rotating arm is hinged to the mounting shaft, and one end of each rotating arm is hinged to the top of a pressing plate; and the two ends of each elastic piece are respectively connected to one ends of the two rotating arms and used for applying elastic force to the two rotating arms to force the lower ends of the two rotating arms to generate a relatively close trend, so that the two rotating arms press the two pressing plates downwards to tighten the crawler.

Furthermore, the track tensioning device also comprises at least one protruding limiting part, and each limiting part protrudes out of the surface of one rotating arm and is used for limiting the relative angle of the two rotating arms.

Furthermore, the track tensioning device further comprises a first limiting part, wherein the first limiting part protrudes out of the surface of the upper arm of the rotating arm and is close to a hinge point of the rotating arm and the mounting shaft; the upper arm is a part of the rotating arm above the mounting shaft; when an included angle formed between the upper arms of the two rotating arms is minimum, the first limiting part is abutted to the surface of the other rotating arm.

Furthermore, the track tensioning device also comprises a second limiting part protruding out of the surface of the lower arm of the rotating arm; the lower arm is a part of the rotating arm below the mounting shaft; when the included angle formed between the lower arms of the two rotating arms is the largest, the second limiting part is abutted to the surface of the other rotating arm.

Further, the track tensioning device further comprises a hollow area which is formed on the lower arm of the second rotating arm and extends to the middle of the second rotating arm; the middle part of the first rotating arm is inserted into the hollow-out area.

Further, the track tensioning device also comprises a first through hole which penetrates through the middle part of the first rotating arm; the second through hole and the third through hole penetrate through the middle part of the second rotating arm and are arranged opposite to the first through hole; and the bearing is sleeved outside the installation shaft, sequentially penetrates through the second through hole, the first through hole and the third through hole, and is used for connecting the installation shaft and the two rotating arms.

Further, the longitudinal section of the pressure plate is in a shape with a narrow upper part and a wide lower part; and/or the bottoms of the front end and the rear end of the pressure plate are provided with chamfer structures.

Further, the elastic part is a tension spring.

In order to achieve the above object, the present invention further provides a crawler travel device, including the crawler tensioning device described above.

Further, the crawler traveling apparatus further includes a vehicle body, the crawler being mounted to left and right sides of the vehicle body; the mounting shaft is vertically fixed to an outer sidewall of the left and/or right side of the vehicle body.

The technical effect of the utility model lies in, utilize elastic component and clamp plate to compress tightly the track bottom on photovoltaic panel to increase the frictional force of track and photovoltaic panel, promote grabbing ground power of track, prevent that the robot from sliding or landing in the marching. The limiting parts are arranged on the rotating arms and used for limiting the relative rotating angle range of the two rotating arms, so that the elastic part cannot be stretched or compressed without limit to cause damage.

Drawings

The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a track tensioning device provided in an embodiment of the present application.

Fig. 2 is a schematic view of the pressing structure and the pressing plate.

Fig. 3 is an exploded view of the first swivel arm, the second swivel arm, and the mounting shaft.

Fig. 4 is a schematic view of the first and second swing arms at a first preset position.

Fig. 5 is a schematic view of the first and second swing arms at a second preset position.

Wherein:

100. a crawler belt; 200. a hold-down mechanism; 300. pressing a plate;

110. uploading a transmission belt; 120. a lower transmission belt;

130. a track side plate; 131. installing a shaft; 1311. a shaft sleeve;

210. a rotating arm; 220. an elastic member; 310. A compression surface;

211. a first rotation arm; 212. a second rotating arm;

2110. a limiting part; 2111. a first limiting part; 2112. a second limiting part; 2113. a first through hole;

2121. a first arm body; 2122. A second arm body; 2123. a second arm end;

21211. a second through hole; 21221. a third through hole; 21222, a rotating section; 21223. a mating segment.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

As shown in fig. 1, the present application discloses a crawler traveling apparatus including a vehicle body, to the left and right of which crawler belts 100 are mounted. The track 100 includes an upper drive belt 110 and a lower drive belt 120, which are parallel to each other and are two portions of the endless drive belt, each having internal track teeth, respectively, and an upper portion and a lower portion of the track 100. A track tensioner is provided within track 100. The automobile body both sides are equipped with the installation axle, by the vertical fixation extremely the lateral wall on automobile body left side and right side, and locate inside track 100.

As shown in fig. 1 and 2, the track tensioning device is used for a track 100, and includes at least one pressing structure 200 and at least one pressing plate 300, the pressing structure 200 is disposed in the track 100 and located between the upper driving belt 110 and the lower driving belt 120, the pressing plate 300 is connected to the pressing structure 200, a bottom surface of the pressing plate 300 abuts against an upper surface of the lower driving belt 120, the pressing structure 200 is used for providing an acting force for pressing the pressing plate 300 against the lower driving belt 120, the pressing plate 300 presses the lower driving belt 120, the driving belt 120 is always close to the panel, and the pressure of the lower driving belt 120 is raised, so as to increase a friction force between the track 100 and the panel, and prevent the track 100 from slipping.

The track 100 of this embodiment mainly used is at the photovoltaic panel, and the photovoltaic panel surface is comparatively smooth, compresses tightly down drive belt 120 and promotes frictional force to avoid track 100 to take place to skid. It is also noteworthy that there may also be obstructions on the surface, such as raised latches or screws.

When the crawler belt 100 passes through an obstacle, the crawler belt 100 may be deformed and bent to pass through the obstacle, but this may cause a contact area between the crawler belt 100 and the panel to be small, which may cause a friction force between the crawler belt 100 and the panel to be reduced, and a slip phenomenon may easily occur. The pressing plate 300 in this embodiment can press the caterpillar track 100, increase the contact area and acting force between the caterpillar track 100 and the panel, and further increase the friction force between the caterpillar track 100 and the panel; meanwhile, the contact area and the acting force between the crawler belt 100 and the obstacle are increased, the friction force between the crawler belt 100 and the obstacle is improved, the friction force borne by the crawler belt 100 when the crawler belt 100 passes through an inclined plane or the obstacle cannot be reduced, and the crawler belt 100 is ensured not to slip on a panel.

The pressing mechanism 200 includes more than two rotating arms 210 and at least one elastic member 220, in this embodiment, the number of the rotating arms 210 is 2, the rotating arms are respectively a first rotating arm 211 and a second rotating arm 212, the first rotating arm 211 and the second rotating arm 212 are respectively connected to the tops of the two pressing plates 300, two ends of the elastic member 220 are respectively connected to one end of each of the two rotating arms 210 to apply elastic force to the two rotating arms 210, the first rotating arm 211 and the second rotating arm 212 transmit the applied elastic force to the pressing plates 300, so that the pressing plates 300 press the lower transmission belt 120, thereby increasing the friction force between the lower transmission belt 120 and the panel, increasing the grip force of the crawler 100, and avoiding the crawler 100 from slipping on the panel. Specifically, with reference to fig. 1, 2 and 3, the track-tightening device further includes: one or two track side plates 130, a mounting shaft 131, the track side plates 130 are arranged on one side or two sides of the track 100, and the hold-down mechanism 200 is arranged on the track side plates 130. The mounting shaft 131 is fixedly arranged on the track side plate 130 and located between the upper rotating belt 110 and the lower driving belt 120, the first rotating arm 211 and the second rotating arm 212 are hinged through the mounting shaft 131, wherein the first rotating arm 211 and the second rotating arm 212 are arranged in a crossed manner, under the action of the elastic force of the elastic member 220, the first rotating arm 211 and the second rotating arm 212 can swing downwards around the axis direction of the mounting shaft 131, the downward swing has displacement and component force in the vertical direction, and the component force in the vertical direction can enable the pressing plate 300 to press the lower driving belt 120, so that the track 100 is prevented from slipping on a panel.

As shown in fig. 3, a first through hole 2113 is formed in the first rotating arm 211, and the first through hole 2113 penetrates through the middle of the first rotating arm 211; a second through hole 21211 and a third through hole 21221, which are opposite to the first through hole 2113, are formed in the middle of the second rotating arm 212; the outside cover of installation axle 131 is equipped with: the bearings 1311, the bearings 1311 passing through the second through hole 21211, the first through hole 2113 and the third through hole 21221 in this order, connect the mounting shaft 131 with the two rotating arms 210, function to define the positions of the two rotating arms 210, and allow both the first rotating arm 211 and the second rotating arm 212 to rotate about the mounting shaft 131. Specifically, the second rotating arm 212 has: the first and

second arms

2121, 2122 and 2123 are connected to the second arm end 2123, the first and

second arms

2121 and 2122 are spaced apart from each other, the second through hole 21211 is formed in the first arm 2121, the third through hole 21221 is formed in the second arm 2122, and when the first and second

rotating arms

211 and 212 are mounted on the mounting shaft 131 in an intersecting manner, the first rotating arm 211 is located between the first and

second arms

2121 and 2122, and the first through hole 2113 corresponds to the second and third through

holes

21211 and 21221, so that the bearing 1311 sequentially passes through and is connected thereto. The provision of the first and

second arm bodies

2121 and 2122 in the second rotating arm 212 makes the first and second

rotating arms

211 and 212 structurally stable.

The both ends of elastic component 220 are connected respectively on the top of two rotor arms 210, and two rotor arms 210 are the middle part and are installed the axle 131 and articulate, the elasticity that elastic component 220 provided is along the horizontal direction, make the lower extreme of two rotor arms 210 produce the trend of being close to relatively, make two rotor arms 210 relative oscillation oppress two clamp plates 300 downwards, two halves of two similar scissors of two rotor arms 210, the oscillation direction is both ends and all is close to each other, the angle and the dynamics of swing are the same, thereby make two clamp plates 300 also the same to the pressure of lower drive belt 120, guarantee the whole of lower drive belt 120 when making track 100 be tightened steady. In this embodiment, the elastic member 220 is specifically a tension spring, and is used to apply an elastic force to the top ends of the two rotating arms 210, which are close to each other, so that the acting force provided to the pressing plate 300 is kept unchanged when the two rotating arms 210 have a motion tendency close to each other and are relatively static, so that the pressing plate 300 stably presses the lower transmission belt 120, and the acting force between the transmission belt and the contacted panel is increased, thereby increasing the friction force between the transmission belt and the contacted panel, and improving the stability of the robot when walking.

During the operation of the robot, a certain weight is borne above the crawler belt 100 and is pressed by an upper bearing object in the vertical direction; walking on the panel and receiving the supporting force of the panel in the vertical direction; and the supporting force of the two rotating arms 210 in the internal pressing mechanism 200 in the vertical direction, which are balanced. Therefore, when the weight of the load above the track 100 changes, the supporting force provided by the two rotating arms 210 in the pressing mechanism 200 also changes, resulting in the relative position of the two rotating arms 210 changing to balance the load pressure and the panel supporting force. The elastic force provided by the elastic member 220 is used to adjust the relative position of the two rotating arms 210, i.e. the crossing angle of the two rotating arms 210, so as to adjust the supporting force provided by the pressing mechanism 200. Under some specific conditions, the weight of the bearing object above the robot may change, for example, the cleaning robot bears the water tank above the track 100, the water tank continuously sprays water when cleaning, the weight borne by the upper portion of the track gradually decreases, at this time, because the weight of the bearing object decreases, the elastic member 220 may contract inwards, the distance between the top ends of the two rotating arms 210 is reduced, the swing of the two rotating arms 210 causes the height of the whole pressing mechanism 200 to be increased, the cleaning robot may be lifted, and the robot is unstable. And when the water tank of robot adds water, the weight grow gradually of water tank, because the weight grow of bearing the weight of thing, then elastic component 220 can stretch to both sides, makes the distance on two tops of two rotor arms 210 enlarge, and the swing of two rotor arms 210 makes whole hold-down mechanism 200's high reduction, probably makes cleaning robot reduce, influences clean effect.

In view of the above problem, the track-tightening device of the present embodiment is provided with at least one protruding limiting portion on at least one of the rotating arms 210, each of the limiting portions protruding from the surface of one of the rotating arms 210 for abutting against and blocking the other rotating arm 210 from rotating, for limiting the relative angle between the two rotating arms, and for abutting against and blocking the other rotating arm 210 from rotating.

In some embodiments, the two rotating arms 210 may be provided with the limiting portion 2110, or the limiting portion 2110 is provided on the track side plate 130, and in this embodiment, the limiting portion 2110 is provided on one of the rotating arms 210, which is only used as an example for illustration and is not specifically limited. The limiting portion 2110 is used for abutting against the rotating arm 210 when the rotating arm 210 rotates to a certain angle, preventing the rotating arm 210 from continuously rotating, and limiting the rotating angle of the rotating arm 210, so as to control the included angle between the two rotating arms 210, and avoid the phenomenon that the robot integrally ascends and descends due to the fact that the two rotating arms 210 are too large or too small in angle, and the elastic member 220 is unlimitedly stretched or compressed to be damaged.

The limiting portion may be disposed on the first rotating arm or the second rotating arm, in this embodiment, the limiting portion is disposed on the first rotating arm 211, in other embodiments, the limiting portion may also be disposed on the second rotating arm 212, and this embodiment is not limited in this embodiment.

As shown in fig. 3, the limiting portion 2110 includes a first limiting portion 2111 and a second limiting portion 2112, and the first limiting portion 2111 and the second limiting portion 2112 are spaced apart from each other on the first rotating arm 211 and are respectively located at two sides of the second rotating arm 212. As shown in fig. 4, the first limiting portion 2111 is configured to abut against the second rotating arm 212 when the first rotating arm 211 and the second rotating arm 212 rotate to the first preset position, so as to prevent the second rotating arm 212 from rotating continuously, and prevent the crawler 100 from being lifted. As shown in fig. 5, the second limiting portion 2112 is configured to abut against the second rotating arm 212 when the first rotating arm 211 and the second rotating arm 212 rotate to the second preset position, so as to block the second rotating arm 212 from rotating continuously, so as to prevent the second rotating arm 212 from rotating continuously, and prevent the height of the robot from decreasing. The first limiting portion 2111 and the second limiting portion 2112 are both block-shaped, but may also be other shapes, such as hook-shaped, and the like.

The upper arm defining the swivel arm 211/212 is the portion of the swivel arm 211/212 located above the mounting shaft 131; the lower arm defining the pivoting arm 211/212 is a portion of the pivoting arm 211/212 located below the mounting shaft 131.

The first limiting portion 2111 protrudes from the surface of the upper arm of the first rotating arm 211, and when the angle formed between the upper arms of the two rotating arms 211/212 is the smallest near the hinge point between the rotating arm and the mounting shaft 131, the first limiting portion 2111 abuts against the surface of the second rotating arm 212.

The second stopper portion 2112 protrudes from the lower arm surface of the first rotation arm 211; when the included angle formed between the lower arms of the two rotating arms is the largest, the second restricting portion 2112 abuts against the surface of the second rotating arm 212.

In this embodiment, the first rotating arm 211 and the second rotating arm 212 are arranged to intersect with each other, at least a part of which are staggered from each other, and the second rotating arm 212 is provided with: and the fixture block extends in the axial direction of the mounting shaft 131 and is used for abutting against the first limiting portion 2111 and the second limiting portion 2112, and the fixture block is located in the same plane as the first limiting portion 2111 and the second limiting portion 2112, so that the fixture block can abut against the first limiting portion 2111 or the second limiting portion 2112, and the relative rotation angle of the first rotating arm 211 and the second rotating arm 212 is limited. When the cleaning robot has a moderate weight, the relative position of the first rotating arm 211 and the second rotating arm 212 is between the first preset position and the second preset position, and the fixture block does not contact with the first limiting portion 2111 or the second limiting portion 2112. When the weight of the robot changes, the first rotating arm 211 and the second rotating arm 212 rotate relatively, and the fixture block can abut against the first limiting portion 2111 or the second limiting portion 2112 when the first rotating arm 211 and the second rotating arm 212 rotate to the first preset position or the second preset position, so that the first rotating arm 211 and the second rotating arm 212 are prevented from rotating continuously, the situation that the crawler 100 is raised or lowered is avoided, and the running stability of the robot is ensured. The limiting portion 2110 is also provided to prevent the elastic member 220 from being stretched or compressed without limitation to damage

In this embodiment, as shown in fig. 3, the first arm of the second rotating arm 212 includes a rotating section 21222 and a fitting section 21223, wherein the rotating section 2121 is rotatably connected to the mounting shaft 131, the fitting section 21223 is connected to the rotating section 21222, the rotating section 2121 and the fitting section 21223 are arranged in a staggered manner, and the fitting section 21223, the first limiting portion 2111 and the second limiting portion 2112 are located in the same plane. Specifically, the engaging section 21223 and the first rotating arm 211 are located in the same plane, and the rotating section 21222 is offset from the engaging section 21223 and the first rotating arm 211, so that the first limiting portion 2111 and the second limiting portion 2112 can directly abut against the engaging section 21223 of the second rotating arm 212, and the relative position of the first rotating arm 211 and the second rotating arm 212 is defined.

As shown in fig. 3, the track-tightening device further includes a hollow-out region 2124 formed at a lower arm of the second rotating arm 212, i.e., the first arm body 2121, and extending to a middle portion of the second rotating arm 212; the middle portion of the first rotation arm 211 is inserted into the hollow region 2124.

Referring to fig. 1 to 3, the longitudinal section of the pressing plate 300 in this embodiment is narrow at the top and wide at the bottom; the front and rear ends of the pressing plate 300 are provided with chamfers at the bottom thereof. The pressing effect of the pressing plate 300 is related to the pressing area when pressing the lower belt 120 of the track 100. The top of the pressing plate 300 is rotatably connected to the bottom end of the rotating arm 210, a pressing surface 310 is formed at the bottom of the pressing plate, the pressing surface 310 is used for pressing the lower transmission belt 120, and the area of the pressing surface 310 is large due to the narrow upper part and the wide lower part of the pressing plate 300, so that the lower transmission belt 120 can be stably pressed. The top of the pressing plate 300 is rotatably connected to the rotating arm 210, so that the pressing surface 310 always presses the lower belt 120 downward when the rotating arm 210 rotates.

When the track 100 passes through the inclined surface, the pressing plate 300 presses the lower transmission belt 120, so that the pressure and the friction between the lower transmission belt 120 and the inclined surface are increased, and the track 100 is prevented from slipping on the inclined surface. When an obstacle passes through the inclined plane, for example, when a screw on the panel is screwed, the track 100 is partially jacked up by the obstacle, so that the contact area with the panel becomes smaller, when the lower transmission belt 120 is partially lifted, the pressing plate 300 is lifted along with the obstacle, the rotating arms 210 are driven to rotate, the bottom ends of the two rotating arms 210 tend to be away from each other, the elastic piece 220 is stretched, the elasticity of the stretched elastic piece 220 is increased, the elasticity for driving the two rotating arms 210 is increased, and the pressure of the pressing plate 300 on the lower transmission belt 120 is also increased. That is, when passing through an obstacle, the lower belt 120 is lifted, the pressing force of the pressing plate 300 is increased, the obstacle can be pressed, the friction force of other parts contacting with the inclined surface is increased due to the increase of the pressure, the friction force is increased, and the slipping or falling caused by the insufficient friction force is avoided.

The track tensioning device in this embodiment, through the arrangement of the pressing mechanism 200 and the pressing plate 300, ensures the friction between the lower transmission belt 120 and the panel when the robot passes through the inclined plane and the inclined plane with obstacles, and avoids the robot slipping or falling.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The embodiments of the present application have been described in detail, and the principles and embodiments of the present application are explained herein using specific examples, and the description of the embodiments is only used to help understand the technical solutions and the core ideas of the present application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims

1. A track tensioning device is used for a track, and the track comprises an upper transmission belt and a lower transmission belt; characterized in that the track tensioning device comprises:

a mounting shaft vertically fixed to a side plate between the upper and lower belts; the bottom surfaces of the more than two pressing plates are abutted to the upper surface of the lower transmission belt; the two or more rotating arms at least comprise a first rotating arm and a second rotating arm, the middle part of each rotating arm is hinged to the mounting shaft, and one end of each rotating arm is hinged to the top of a pressing plate; and at least one elastic member, wherein two ends of each elastic member are respectively connected to one ends of the two rotating arms, and the elastic member is used for applying elastic force to the two rotating arms, so that the crawler belt is tightened.

2. The track tensioner of claim 1, further comprising

Each limiting part protrudes out of the surface of one rotating arm and is used for limiting the relative angle of the two rotating arms.

3. The track tensioning device of claim 2, further comprising

The first limiting part protrudes out of the surface of the upper arm of the rotating arm and is close to a hinge point of the rotating arm and the mounting shaft; the upper arm is a part of the rotating arm above the mounting shaft;

when an included angle formed between the upper arms of the two rotating arms is minimum, the first limiting part is abutted to the surface of the other rotating arm.

4. The track tensioner of claim 2, further comprising

A second limiting part protruding from the lower arm surface of a rotating arm; the lower arm is a part of the rotating arm below the mounting shaft;

when the included angle formed between the lower arms of the two rotating arms is the largest, the second limiting part is abutted to the surface of the other rotating arm.

5. The track tensioner of claim 1, further comprising

A hollow area formed in the lower arm of the second rotating arm and extending to the middle thereof; the middle part of the first rotating arm is inserted into the hollow-out area.

6. The track tensioner of claim 5, further comprising

The first through hole penetrates through the middle part of the first rotating arm;

the second through hole and the third through hole penetrate through the middle part of the second rotating arm and are arranged opposite to the first through hole; and

and the bearing is sleeved outside the installation shaft, sequentially penetrates through the second through hole, the first through hole and the third through hole and is used for connecting the installation shaft and the two rotating arms.

7. Track tensioning device according to claim 1,

the longitudinal section of the pressing plate is in a shape with a narrow upper part and a wide lower part; and/or the presence of a gas in the gas,

the bottom of clamp plate front end and rear end all is equipped with the chamfer structure.

8. Track tensioning device according to claim 1, characterized in that the elastic element is a tension spring.

9. A crawler track comprising a track tensioner according to any of claims 1 to 8.

10. The crawler track assembly of claim 9, further comprising

A vehicle body to which the crawler is mounted to left and right sides thereof;

the mounting shaft is vertically fixed to an outer sidewall of the left and/or right side of the vehicle body.